To control an arm (or legs!) you need to solve forward and inverse kinematic problems. Assuming you've used the SSC-32 in your arm, you will need to be able to compose and transmit serial ASCII data over a RS-232 interface (232 levels or TTL) in order to command the servos. I don't think too many ladder-logic controllers can do that.

Rather, use a BB II to communicate with the SSC-32, and develop a simple handshake interface with the PLC. For an industrial application (and the AL5B is not rated for industrial applications), you'd probably have a set of positions you wish to drive the arm to. These "waypoints" could be stored in the BB II, and the PLC could send an encoded (5 wires) command to the BB II.

A solution can be when the arm receives a pulse it performs the movement records.Can I record a movement in the SSC-32? Are there any inputs in the SSC-32 which can correspond?Do you think it's possible?

The Botboarduino was designed to be easier to interface with standard servos and sensors. It's the same thing as an official Arduino Duemilanove just with added features that make it great for robotic applications. An Uno would work but you'll have to use a breadboard or another board for the wiring. The Botboarduino doesn't require anything extra as you can plug servos right into it with no modifications. As for the PLD.. Probably won't cut it as you have to solve some trigonometry and output Pulse widths. As far as I know PLD's can only output digital logic nor can they do complex math functions. I've personally used a regular Arduino and a BotBoarduino for controlling an arm, the BotBoarduino just works and is much easier. It's definitely worth getting one.

_________________Devon Simmons, Former Programmer for Lynxmotion.I can try to help, but I can only offer you my best effort.